{"ID":2845880,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.03622","arxiv_id":"2511.03622","title":"Multi-robot searching with limited sensing range for static and mobile intruders","abstract":"We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a limited sensing capability. We study the problem for both static and mobile intruders. It turns out that the problem of finding an intruder is NP-hard, even for a stationary intruder. Given this intractability, we turn our attention towards developing efficient and robust algorithms, namely methods based on space-filling curves, random search, and cooperative random search. Moreover, for each proposed algorithm, we evaluate the trade-off between the number of search robots and the time required for the robots to complete the search process while considering the geometric properties of the connected orthogonal search area.","short_abstract":"We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a limited sensing capability. We study the problem for both static and mobile intruders...","url_abs":"https://arxiv.org/abs/2511.03622","url_pdf":"https://arxiv.org/pdf/2511.03622v1","authors":"[\"Swadhin Agrawal\",\"Sujoy Bhore\",\"Joseph S. B. Mitchell\",\"P. B. Sujit\",\"Aayush Gohil\"]","published":"2025-11-05T16:43:13Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CG\",\"cs.CR\",\"cs.MA\"]","methods":"[]","has_code":false}